scholarly journals Real-time Terrain Mode Recognition Module for the Control of Lower-limb Prosthesis

2018 ◽  
Author(s):  
Yifei Pan ◽  
Jiwen Zhang ◽  
Libin Song ◽  
Chenglong Fu
Keyword(s):  
Real Time ◽  
Lower Limb ◽  
Mode Recognition ◽  
Lower Limb Prosthesis ◽  
Limb Prosthesis

scholarly journals Real Time Estimation of the Pose of a Lower Limb Prosthesis from a Single Shank Mounted IMU

Sensors ◽  
2019 ◽  
Vol 19 (13) ◽  
pp. 2865 ◽  
Author(s):  
Duraffourg ◽  
Bonnet ◽  
Dauriac ◽  
Pillet
Keyword(s):  
Real Time ◽  
Lower Limb ◽  
Time Estimation ◽  
Measurement Unit ◽  
Correct Identification ◽  
Accelerometer Data ◽  
Mode Recognition ◽  
Lower Limb Prosthesis ◽  
Real Time Estimation ◽  
Limb Prosthesis

The command of a microprocessor-controlled lower limb prosthesis classically relies on the gait mode recognition. Real time computation of the pose of the prosthesis (i.e., attitude and trajectory) is useful for the correct identification of these modes. In this paper, we present and evaluate an algorithm for the computation of the pose of a lower limb prosthesis, under the constraints of real time applications and limited computing resources. This algorithm uses a nonlinear complementary filter with a variable gain to estimate the attitude of the shank. The trajectory is then computed from the double integration of the accelerometer data corrected from the kinematics of a model of inverted pendulum rolling on a curved arc foot. The results of the proposed algorithm are evaluated against the optoelectronic measurements of walking trials of three people with transfemoral amputation. The root mean square error (RMSE) of the estimated attitude is around 3°, close to the Kalman-based algorithm results reported in similar conditions. The real time correction of the integration of the inertial measurement unit (IMU) acceleration decreases the trajectory error by a factor of 2.5 compared to its direct integration which will result in an improvement of the gait mode recognition.

scholarly journals Noninvasive Human-Prosthesis Interfaces for Locomotion Intent Recognition: A Review

2021 ◽  
Vol 2021 ◽  
pp. 1-14
Author(s):  
Dongfang Xu ◽  
Qining Wang
Keyword(s):  
Lower Limb ◽  
Control Strategies ◽  
Recognition Task ◽  
Intent Recognition ◽  
Mode Recognition ◽  
Lower Limb Prosthesis ◽  
Gait Phase ◽  
Robotic Prosthesis ◽  
Limb Prosthesis

The lower-limb robotic prostheses can provide assistance for amputees’ daily activities by restoring the biomechanical functions of missing limb(s). To set proper control strategies and develop the corresponding controller for robotic prosthesis, a prosthesis user’s intent must be acquired in time, which is still a major challenge and has attracted intensive attentions. This work focuses on the robotic prosthesis user’s locomotion intent recognition based on the noninvasive sensing methods from the recognition task perspective (locomotion mode recognition, gait event detection, and continuous gait phase estimation) and reviews the state-of-the-art intent recognition techniques in a lower-limb prosthesis scope. The current research status, including recognition approach, progress, challenges, and future prospects in the human’s intent recognition, has been reviewed. In particular for the recognition approach, the paper analyzes the recent studies and discusses the role of each element in locomotion intent recognition. This work summarizes the existing research results and problems and contributes a general framework for the intent recognition based on lower-limb prosthesis.

scholarly journals A Real-Time Gait Event Detection for Lower Limb Prosthesis Control and Evaluation

2017 ◽  
Vol 25 (9) ◽  
pp. 1500-1509 ◽  
Author(s):  
H. F. Maqbool ◽  
M. A. B. Husman ◽  
M. I. Awad ◽  
A. Abouhossein ◽  
Nadeem Iqbal ◽  
...  
Keyword(s):  
Real Time ◽  
Event Detection ◽  
Lower Limb ◽  
Lower Limb Prosthesis ◽  
Prosthesis Control ◽  
Limb Prosthesis

Nonlinear Passive Cam-Based Springs for Powered Ankle Prostheses

2015 ◽  
Vol 9 (1) ◽  
Author(s):  
Jonathan Realmuto ◽  
Glenn Klute ◽  
Santosh Devasia
Keyword(s):  
Lower Limb ◽  
Nonlinear Response ◽  
Experimental Results ◽  
Passive Element ◽  
Ankle Torque ◽  
Lower Limb Prosthesis ◽  
Limb Prosthesis ◽  
Elastic Elements

This article studies the design of passive elastic elements to reduce the actuator requirements for powered ankle prostheses. The challenge is to achieve most of the typically nonlinear ankle response with the passive element so that the active ankle-torque from the actuator can be small. The main contribution of this article is the design of a cam-based lower-limb prosthesis to achieve such a nonlinear ankle response. Results are presented to show that the addition of the cam-based passive element can reduce the peak actuator torque requirement substantially, by ∼74%. Moreover, experimental results are presented to demonstrate that the cam-based design can achieve a desired nonlinear response to within 10%.

Reduced cortical brain activity with the use of microprocessor-controlled prosthetic knees during walking

2018 ◽  
Vol 43 (3) ◽  
pp. 257-265 ◽  
Author(s):  
Saffran Möller ◽  
David Rusaw ◽  
Kerstin Hagberg ◽  
Nerrolyn Ramstrand
Keyword(s):  
Cognitive Processes ◽  
Lower Limb ◽  
Brain Activity ◽  
Control Group ◽  
Healthy Controls ◽  
Prosthetic Knee ◽  
Level Walking ◽  
Lower Limb Prosthesis ◽  
Prosthetic Knees ◽  
Limb Prosthesis

Background: Individuals using a lower-limb prosthesis indicate that they need to concentrate on every step they take. Despite self-reports of increased cognitive demand, there is limited understanding of the link between cognitive processes and walking when using a lower-limb prosthesis. Objective: The objective was to assess cortical brain activity during level walking in individuals using different prosthetic knee components and compare them to healthy controls. It was hypothesized that the least activity would be observed in the healthy control group, followed by individuals using a microprocessor-controlled prosthetic knee and finally individuals using a non-microprocessor-controlled prosthetic knee. Study design: Cross-sectional study. Methods: An optical brain imaging system was used to measure relative changes in concentration of oxygenated and de-oxygenated haemoglobin in the frontal and motor cortices during level walking. The number of steps and time to walk 10 m was also recorded. The 6-min walk test was assessed as a measure of functional capacity. Results: Individuals with a transfemoral or knee-disarticulation amputation, using non-microprocessor-controlled prosthetic knee ( n = 14) or microprocessor-controlled prosthetic knee ( n = 15) joints and healthy controls ( n = 16) participated in the study. A significant increase was observed in cortical brain activity of individuals walking with a non-microprocessor-controlled prosthetic knee when compared to healthy controls ( p < 0.05) and individuals walking with an microprocessor-controlled prosthetic knee joint ( p < 0.05). Conclusion: Individuals walking with a non-microprocessor-controlled prosthetic knee demonstrated an increase in cortical brain activity compared to healthy individuals. Use of a microprocessor-controlled prosthetic knee was associated with less cortical brain activity than use of a non-microprocessor-controlled prosthetic knee. Clinical relevance Increased understanding of cognitive processes underlying walking when using different types of prosthetic knees can help to optimize selection of prosthetic components and provide an opportunity to enhance functioning with a prosthesis.

Sign in / Sign up

Export Citation Format

Share Document